Tissue motion due to needle deflection

Various concepts of steerable needles have been developed in order to reduce placement errors during insertions and to enable complex procedures through curved trajectories in minimally invasive surgery. When inserted into soft tissue, motion of the targeted location ahead of the needle tip has to be taken into account for controlling such tools. This paper investigates the motion caused by flexible bending needles in comparison to rigid straight ones when inserted into a homogeneous tissue phantom. A laser based experimental setup is used to measure displacements of the substrate around the needles. Displacements are transformed into the local frame in order to quantify the relative substrate motion. It is shown that the radial contribution of the displacements is higher for bending needles and that this effect increases with higher path curvatures. This motion must be taken into account for controlling steerable needles along curved trajectories to reduce placement errors in applications such as multi-targeting or reinsertions in soft tissue.